Cleaning robot with adjustable bristles and method for adjusting bristles of cleaning robot

Abstract

The invention relates to a cleaning robot with adjustable bristles and a bristle adjusting method of the cleaning robot. The invention provides a cleaning robot with adjustable bristles. The cleaning robot comprises a body, a bristle lifting device and a bristle telescopic device. The bristle lifting device moves up and down relative to the body; the bristle telescopic device is arranged in the bristle lifting device, the bristle lifting device drives the bristle telescopic device to move up and down, and the bristle telescopic device moves up and down relative to the bristle lifting device; brush bristle holes are formed in the bottom of the brush bristle lifting device, brush bristles are arranged on the brush bristle telescopic device, and the brush bristles on the brush bristle telescopic device can penetrate through the brush bristle holes to move up and down through the brush bristle holes, so that the brush bristles on the cleaning robot can move up and down, the cleaning function of the brush bristles is increased, the cleaning effect of the brush bristles on stains is improved, and the cleaning efficiency of the cleaning robot is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent control technology, and in particular to a cleaning robot with adjustable bristles and a bristle adjustment method of the cleaning robot. Background Art

[0002] A cleaning robot, also known as a sweeping robot, is a robot that combines sweeping and mopping functions. It can automatically clean the floor, helping people reduce the workload of cleaning to a great extent.

[0003] Currently, the cleaning robots on the market are mainly divided into three parts in terms of cleaning components: roller brush, mop and side brush. The side brush and roller brush are mainly used to gather and sweep garbage, the mop is used to dissolve and wipe floor stains, and the commonly used cleaning side brush is composed of bristles. During cleaning work, it only plays the role of gathering garbage. Its function is relatively simple, and it has almost no effect on cleaning stubborn stains, which reduces the cleaning efficiency. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a cleaning robot with adjustable bristles and a bristle adjustment method of the cleaning robot.

[0005] A first aspect of the present disclosure provides a cleaning robot with adjustable bristles, the cleaning robot comprising a body, a bristle lifting device and a bristle retracting device;

[0006] The bristle lifting device moves up and down relative to the body;

[0007] The bristle telescopic device is arranged inside the bristle lifting device, and the bristle lifting device drives the bristle telescopic device to move up and down, and the bristle telescopic device moves up and down relative to the bristle lifting device;

[0008] The bottom of the bristle lifting device is provided with a bristle hole, the bristle telescopic device is provided with bristles, and the bristle hole is used for the bristles on the bristle telescopic device to pass through the bristle hole and move up and down.

[0009] Optionally, the cleaning robot further comprises a power device;

[0010] The power device is used to provide variable pressure to the bristle retracting device to control the bristle retracting device to move up and down relative to the bristle lifting device to adjust the extension length of the bristles;

[0011] and / or, used to provide variable pressure to the bristle lifting device to control the bristle lifting device to move up and down relative to the body to adjust the pressure of the bristles on the ground;

[0012] And / or, used to control the rotation speed of the bristle retracting device or the bristle lifting device.

[0013] Optionally, the bristle retracting device comprises a bristle head movable part, bristles, and a bristle guide tube;

[0014] One end of the bristle is fixed to the bottom of the movable part of the bristle head;

[0015] One end of the bristle guide tube is fixed to the bristle head movable part, and the other end of the bristle guide tube is fixed to the bottom of the bristle lifting device relative to the bristle hole, or one end of the bristle guide tube is fixed to the bottom of the bristle lifting device relative to the bristle hole, and the other end of the bristle guide tube passes through the bristle head movable part and moves up and down;

[0016] At least one bristle passes through each bristle guide tube, and the bristle guide tube is used to provide guidance and support for the bristles.

[0017] Optionally, the bristle lifting device is arranged inside the body, the outer top surface of the bristle head movable part is opposite to the inner top surface of the bristle lifting device, and the outer top surface of the bristle head movable part and the inner top surface of the bristle lifting device form a first cavity;

[0018] The outer top surface of the bristle lifting device is opposite to the inner top surface of the body, and the outer top surface of the bristle lifting device and the inner top surface of the body form a second cavity;

[0019] The cleaning robot also includes a power unit;

[0020] The power device is used to provide variable pressure inside the first cavity, so that the bristle head movable part moves up and down inside the bristle lifting device;

[0021] The power device is used to provide variable pressure to the inside of the second cavity so that the bristle lifting device moves up and down inside the body.

[0022] A second aspect of the present disclosure provides a method for adjusting the bristles of a cleaning robot, the cleaning robot comprising a body, a bristle lifting device and a bristle retracting device, the bristle lifting device moves up and down relative to the body; the bristle retracting device is arranged inside the bristle lifting device, the bristle lifting device drives the bristle retracting device to move up and down, and the bristle retracting device moves up and down relative to the bristle lifting device; a bristle hole is arranged at the bottom of the bristle lifting device, bristles are arranged on the bristle retracting device, and the bristle hole is used for the bristles on the bristle retracting device to pass through the bristle hole and move up and down, the method comprises:

[0023] Get the cleanliness of the area to be cleaned;

[0024] Based on the mapping relationship between the cleanliness and the extension length of the bristles and / or the pressure of the bristles on the ground, determine the target extension length of the bristles of the cleaning robot and / or the target pressure of the bristles on the ground and / or the target rotation speed of the bristles corresponding to the cleanliness of the area to be cleaned;

[0025] Adjust the up and down moving distance of the bristle retracting device to adjust the extension length of the bristles to the target extension length, and / or adjust the up and down moving distance of the bristle lifting device to adjust the pressure of the bristles on the ground to the target pressure, and / or adjust the rotation speed of the bristle lifting device or the bristle retracting device to adjust the rotation speed of the bristles to the target rotation speed, so that the cleaning robot controls the bristles to clean the area to be cleaned based on the target extension length and / or target pressure and / or target rotation speed of the bristles.

[0026] Optionally, the above-mentioned obtaining the cleanliness of the area to be cleaned includes:

[0027] Acquire an image of the area to be cleaned;

[0028] Identify the cleanliness of the image and obtain the cleanliness of the area to be cleaned;

[0029] Or, in response to the cleanliness level of the area to be cleaned input by the user, the cleanliness level of the area to be cleaned is obtained.

[0030] Optionally, the cleaning robot further comprises a power device, the bristle lifting device is arranged inside the body, the bristle retracting device comprises a bristle head movable part, and the outer top surface of the bristle head movable part and the inner top surface of the bristle lifting device are arranged opposite to each other to form a first cavity;

[0031] Adjusting the up and down movement distance of the bristle extension device to adjust the extension length of the bristles to the target extension length includes:

[0032] Get the total length of the bristles and the atmospheric pressure;

[0033] Calculating the ratio of the total length to the target extension length to obtain a first ratio;

[0034] multiplying the first ratio by the atmospheric pressure to obtain a first target pressure of the first cavity;

[0035] The power device is controlled to adjust the pressure of the first cavity to a first target pressure, so that the movable part of the bristle head moves up and down to a position corresponding to the first target pressure so that the extension length of the bristles reaches the target extension length.

[0036] Optionally, the cleaning robot further comprises a power device, the bristle lifting device is arranged inside the body, the bristle retracting device comprises a bristle head movable part, the outer top surface of the bristle head movable part and the inner top surface of the bristle lifting device are arranged oppositely to form a first cavity, and the outer top surface of the bristle lifting device and the inner top surface of the body are arranged oppositely to form a second cavity;

[0037] Adjust the up and down movement distance of the bristle lifting device to adjust the pressure of the bristles on the ground to the target pressure, including:

[0038] Obtaining the current pressure of the first cavity and the atmospheric pressure;

[0039] The target pressure, the current pressure and the atmospheric pressure are summed to obtain a second target pressure of the second cavity;

[0040] The control power device adjusts the pressure of the second cavity to the second target pressure, so that the bristle lifting device moves up and down to the position corresponding to the second target pressure, so that the pressure of the bristles on the ground reaches the target pressure.

[0041] Optionally, the above method further includes:

[0042] In response to the cleaning robot returning to the workstation, the up and down movement distance of the bristle retracting device is adjusted to adjust the extended length of the bristles to 0.

[0043] Optionally, the step of adjusting the extension length of the bristles to 0 according to a preset speed includes:

[0044] Obtaining a preset pressure of the first cavity corresponding to when the extension length of the bristles is 0;

[0045] The control power device adjusts the pressure of the first cavity to a preset pressure, so that the bristle extension device moves up and down to a position corresponding to the preset pressure, so as to adjust the extension length of the bristles to 0.

[0046] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0047] The present disclosure provides a cleaning robot with adjustable bristles, which includes a main body, a bristle lifting device and a bristle retracting device; the bristle lifting device moves up and down relative to the main body; the bristle retracting device is arranged inside the bristle lifting device, the bristle lifting device drives the bristle retracting device to move up and down, and the bristle retracting device moves up and down relative to the bristle lifting device; a bristle hole is provided at the bottom of the bristle lifting device, and bristles are provided on the bristle retracting device, and the bristle holes are used for the bristles on the bristle retracting device to pass through the bristle holes and move up and down, so that the bristles on the cleaning robot can be moved up and down, thereby increasing the cleaning function of the bristles, improving the cleaning effect of the bristles on stains, and improving the cleaning efficiency of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0050] Figure 1a is a structural schematic diagram of a cleaning robot with adjustable bristles provided in an embodiment of the present disclosure;

[0051] Figure 1b It is a structural schematic diagram of a bristle retracting device and a bristle lifting device provided in an embodiment of the present disclosure;

[0052] Figure 2 is a flow chart of a bristle adjustment method of a cleaning robot provided by an embodiment of the present disclosure;

[0053] Figure 3a is a schematic diagram of a cleaning robot provided by the present disclosure before self-cleaning;

[0054] Figure 3b is a schematic diagram of a cleaning robot provided by the present disclosure after self-cleaning;

[0055] Figure 4 It is a structural schematic diagram of a bristle adjustment device of a cleaning robot provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0056] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0057] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0058] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0059] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0060] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0061] A cleaning robot, also known as a sweeping robot, is a robot that combines sweeping and mopping functions. It can automatically clean the floor, helping people reduce the workload of cleaning to a great extent.

[0062] Currently, the cleaning robots on the market are mainly divided into three parts in terms of cleaning components: roller brush, mop and side brush. The side brush and roller brush are mainly used to gather and sweep garbage, the mop is used to dissolve and wipe floor stains, and the commonly used cleaning side brush is composed of bristles. During cleaning work, it only plays the role of gathering garbage. Its function is relatively simple, and it has almost no effect on cleaning stubborn stains, which reduces the cleaning efficiency.

[0063] In response to the defects of related technologies in terms of bristles, the embodiments of the present disclosure provide a cleaning robot with adjustable bristles and a bristle adjustment method for the cleaning robot, which can enable the bristles on the cleaning robot to move up and down, increase the cleaning function of the bristles, improve the cleaning effect of the bristles on a region, and improve the cleaning efficiency of the cleaning robot.

[0064] In order to better understand the inventive concept of the embodiments of the present disclosure, the technical solutions of the embodiments of the present disclosure are described below in conjunction with exemplary embodiments.

[0065] FIG1 is a schematic diagram of the structure of a cleaning robot with adjustable bristles provided by an embodiment of the present disclosure. Figure 1a As shown, the cleaning robot with adjustable bristles provided in this embodiment includes a main body 110 , a bristle lifting device 120 and a bristle retracting device 130 .

[0066] The bristle lifting device can move up and down relative to the body;

[0067] The bristle retractable device is arranged inside the bristle lifting device, the bristle lifting device can drive the bristle retractable device to move up and down, and the bristle retractable device can move up and down relative to the bristle lifting device;

[0068] A bristle hole is arranged at the bottom of the bristle lifting device, and bristles 132 are arranged on the bristle telescopic device. The bristle hole is used for the bristles on the bristle telescopic device to pass through the bristle hole and move up and down.

[0069] Those skilled in the art should understand that the cleaning robot cleans the floor by rotating the bristles, so the bristle retracting device and / or the bristle lifting device in the present application can rotate relative to the body.

[0070] In this way, the bristles on the cleaning robot can be moved up and down, thereby increasing the cleaning function of the bristles, improving the cleaning effect of the bristles on stains, and improving the cleaning efficiency of the cleaning robot.

[0071] In some embodiments, the cleaning robot includes a body, a bristle retracting device and a bristle lifting device, and also includes a power device;

[0072] The power device is used to provide variable pressure to the bristle retracting device to control the bristle retracting device to move up and down relative to the bristle lifting device to adjust the extension length of the bristles;

[0073] and / or, used to provide variable pressure to the bristle lifting device to control the bristle lifting device to move up and down relative to the body to adjust the pressure of the bristles on the ground;

[0074] And / or, used to control the rotation speed of the bristle retracting device or the bristle lifting device.

[0075] The cleaning robot may further include a controller, and the power device may include a first power device and / or a second power device.

[0076] The controller can be used to control the pressure provided by the first power device to the bristle retracting device, so as to control the bristle retracting device to move up and down relative to the bristle lifting device to adjust the extension length of the bristles;

[0077] And / or, the controller is used to control the pressure provided by the first power device to the bristle lifting device, so as to control the bristle lifting device to move up and down relative to the body to adjust the pressure of the bristles on the ground;

[0078] And / or, the controller is used to control the rotational power provided by the second power device to the bristle retractable device, so as to control the rotational speed of the bristle retractable device or the bristle lifting device to adjust the rotational speed of the bristles on the bristle retractable device.

[0079] The first power device may include an air pump, the second power device may include a motor, and the pressure may include air pressure, water pressure, oil pressure, etc.

[0080] In some embodiments, Figure 1b As shown, Figure 1b The bristle retractable device 130 is a schematic structural diagram of a bristle lifting device. The bristle retractable device 130 may include a bristle head movable part 131, bristles 132, and a bristle guide tube 133;

[0081] 120 is a bristle lifting device, 121 is the bottom of the bristle lifting device, and 122 is the top of the bristle lifting device.

[0082] The bristle head movable part moves up and down relative to the bristle lifting device, and one end of the bristle is fixed to the bottom of the bristle head movable part;

[0083] In one embodiment, one end of the bristle guide tube is fixed to the bristle head movable part, and the other end of the bristle guide tube is fixed to the bottom of the bristle lifting device relative to the bristle hole at the bottom of the bristle lifting device. The bristle guide tube is retractable and can be extended or shortened as the bristle head movable part moves up and down. At least one bristle passes through each bristle guide tube, and the bristle guide tube is used to provide guidance and support for the bristles.

[0084] In another embodiment, one end of the bristle guide tube is fixed to the bottom of the bristle lifting device relative to the bristle hole at the bottom of the bristle lifting device, and the other end of the bristle guide tube can move up and down through the bristle head movable part. At least one bristle passes through the inside of each bristle guide tube, and the bristle guide tube is used to provide guidance and support for the bristles.

[0085] In some embodiments, Figure 1a As shown in Fig. 1b, the bristle lifting device is arranged inside the body, the outer top surface of the bristle head movable part is opposite to the inner top surface of the bristle lifting device, and the outer top surface of the bristle head movable part and the inner top surface of the bristle lifting device form a first cavity 150; the outer top surface of the bristle lifting device is opposite to the inner top surface of the body, and the outer top surface of the bristle lifting device and the inner top surface of the body form a second cavity 160;

[0086] In one embodiment, the cleaning robot further comprises a power device,

[0087] The power device is used to provide variable pressure inside the first cavity, so that the bristle head movable part moves up and down inside the bristle lifting device;

[0088] The power device is used to provide variable pressure to the inside of the second cavity so that the bristle lifting device moves up and down inside the body.

[0089] Figure 2is a flow chart of a bristle adjustment method of a cleaning robot provided by an embodiment of the present disclosure, such as Figure 2 As shown, the cleaning robot includes a body, a bristle lifting device and a bristle retracting device, the bristle lifting device moves up and down relative to the body; the bristle retracting device is arranged inside the bristle lifting device, the bristle lifting device drives the bristle retracting device to move up and down, and the bristle retracting device moves up and down relative to the bristle lifting device; a bristle hole is arranged at the bottom of the bristle lifting device, bristles are arranged on the bristle retracting device, and the bristle hole is used for the bristles on the bristle retracting device to pass through the bristle hole and move up and down, and the method includes:

[0090] Step 210: Obtain the cleanliness of the area to be cleaned.

[0091] The cleanliness of the area to be cleaned in the disclosed embodiment can be understood to reflect the amount of stains and garbage in the area to be cleaned. The fewer the amount of stains and garbage in the area to be cleaned, the higher the cleanliness of the area to be cleaned, and the more the amount of stains and garbage in the area to be cleaned, the lower the cleanliness of the area to be cleaned.

[0092] In the disclosed embodiment, the cleaning robot can obtain the cleanliness level of the area to be cleaned.

[0093] In some embodiments, the cleaning robot can obtain an image of the area to be cleaned, identify the cleanliness of the image, and obtain the cleanliness of the area to be cleaned. For example, stains and garbage in the image of the area to be cleaned can be identified by deep learning-based image recognition technology to obtain the cleanliness of the area to be cleaned; the image of the area to be cleaned can also be matched with images of different cleanliness levels, and the cleanliness of the matched target image can be used as the cleanliness of the area to be cleaned.

[0094] In other embodiments, the cleaning robot may receive the cleanliness level of the area to be cleaned input by the user, and then obtain the cleanliness level of the area to be cleaned in response to the cleanliness level of the area to be cleaned input by the user.

[0095] Step 220, based on the mapping relationship between the cleanliness level and the extension length of the bristles and / or the pressure of the bristles on the ground, determine the target extension length of the bristles of the cleaning robot and / or the target pressure of the bristles on the ground and / or the target rotation speed of the bristles corresponding to the cleanliness level of the area to be cleaned.

[0096] In the disclosed embodiment, the cleaning robot can determine the target extension length of the bristles of the cleaning robot and / or the target pressure of the bristles on the ground and / or the target rotation speed of the bristles corresponding to the cleanliness of the area to be cleaned based on the mapping relationship between the cleanliness level and the extension length of the bristles and / or the pressure of the bristles on the ground.

[0097] The cleanliness of the area to be cleaned is positively correlated with the extension length of the bristles. The higher the cleanliness of the area to be cleaned, the less stains and garbage there are in the area to be cleaned, the longer the extension length of the bristles is, and the softer the bristles are. The lower the cleanliness of the area to be cleaned, the more stains and garbage there are in the area to be cleaned, the shorter the extension length of the bristles is, and the harder the bristles are. This can increase the force of the bristles on the area to be cleaned and improve the cleaning ability of stubborn stains.

[0098] The cleanliness of the area to be cleaned is negatively correlated with the pressure of the bristles on the ground. The cleaner the area to be cleaned, the smaller the pressure of the bristles on the ground; the cleaner the area to be cleaned, the greater the pressure of the bristles on the ground. This can increase the force of the bristles on the area to be cleaned and improve the cleaning ability of stubborn stains.

[0099] The cleanliness of the area to be cleaned is negatively correlated with the rotation speed of the bristles. The cleanlier the area to be cleaned, the slower the rotation speed of the bristles; the lower the cleanliness of the area to be cleaned, the faster the rotation speed of the bristles, thereby improving the cleaning ability of the bristles on the area to be cleaned.

[0100] Step 230, adjust the up and down moving distance of the bristle retracting device to adjust the extension length of the bristles to the target extension length, and / or adjust the up and down moving distance of the bristle lifting device to adjust the pressure of the bristles on the ground to the target pressure, and / or adjust the rotation speed of the bristle lifting device or the bristle retracting device to adjust the rotation speed of the bristles to the target rotation speed, so that the cleaning robot controls the bristles to clean the area to be cleaned based on the target extension length and / or target pressure and / or target rotation speed of the bristles.

[0101] In the disclosed embodiment, the cleaning robot can adjust the up and down moving distance of the bristle retracting device to adjust the extension length of the bristles to a target extension length, and / or adjust the up and down moving distance of the bristle lifting device to adjust the pressure of the bristles on the ground to a target pressure, and / or adjust the rotation speed of the bristle lifting device or the bristle retracting device to adjust the rotation speed of the bristles to a target rotation speed, so that the cleaning robot controls the bristles to clean the area to be cleaned based on the target extension length and / or target pressure and / or target rotation speed of the bristles.

[0102] In some embodiments, the cleaning robot further comprises a first power device, the bristle lifting device is arranged inside the body, the bristle retracting device comprises a bristle head movable part, and the outer top surface of the bristle head movable part and the inner top surface of the bristle lifting device are arranged opposite to each other to form a first cavity;

[0103] Adjusting the up and down movement distance of the bristle extension device to adjust the extension length of the bristles to the target extension length may include steps 2301-2304:

[0104] Step 2301: Obtain the total length of the bristles and the atmospheric pressure.

[0105] In the disclosed embodiment, the cleaning robot can obtain the total length of the bristles and the atmospheric pressure.

[0106] Step 2302, calculating the ratio of the total length to the target extension length to obtain a first ratio;

[0107] Step 2303: multiply the first ratio by the atmospheric pressure to obtain a first target pressure of the first cavity.

[0108] In the disclosed embodiment, the cleaning robot may calculate the first target pressure of the first cavity based on the total length of the bristles, the target extension length, and the atmospheric pressure.

[0109] Specifically, the formula Q / L=p1 / p can be used, that is, p 1＝ (Q / L)·p calculates the first target pressure of the first cavity, where Q is the target extension length of the bristles, L is the total length of the bristles, p1 is the first target pressure of the first cavity, in kPa, and p is the atmospheric pressure, generally p is 100 kPa.

[0110] Step 2304, control the first power device to adjust the pressure of the first cavity to the first target pressure, so that the movable part of the bristle head moves up and down to the position corresponding to the first target pressure so that the extension length of the bristles reaches the target extension length.

[0111] In the disclosed embodiment, the cleaning robot can control the first power device to adjust the pressure of the first cavity to the first target pressure, so that the movable part of the bristle head moves up and down to the position corresponding to the first target pressure so that the extension length of the bristles reaches the target extension length.

[0112] In other embodiments, the cleaning robot further comprises a first power device, the bristle lifting device is arranged inside the body, the bristle retracting device comprises a bristle head movable part, the outer top surface of the bristle head movable part and the inner top surface of the bristle lifting device are arranged opposite to each other to form a first cavity, and the outer top surface of the bristle lifting device and the inner top surface of the body are arranged opposite to each other to form a second cavity;

[0113] Adjusting the up and down movement distance of the bristle lifting device to adjust the pressure of the bristles on the ground to the target pressure may include steps 2311-2313:

[0114] Step 2311, obtain the current pressure and atmospheric pressure of the first cavity.

[0115] In the disclosed embodiment, the cleaning robot can obtain the current pressure of the first cavity and the atmospheric pressure. For example, the current pressure of the first cavity can be obtained through a pressure sensor.

[0116] Step 2312: sum the target pressure, current pressure and atmospheric pressure to obtain a second target pressure of the second cavity.

[0117] In the disclosed embodiment, the cleaning robot may sum the target pressure, the current pressure and the atmospheric pressure to obtain the second target pressure of the second cavity.

[0118] Step 2313, control the first power device to adjust the pressure of the second cavity to the second target pressure, so that the bristle lifting device moves up and down to the position corresponding to the second target pressure, so that the pressure of the bristles on the ground reaches the target pressure.

[0119] In the disclosed embodiment, the cleaning robot can control the first power device to adjust the pressure of the second cavity to the second target pressure, so that the bristle lifting device moves up and down to the position corresponding to the second target pressure, so that the pressure of the bristles on the ground reaches the target pressure.

[0120] In other embodiments, adjusting the up-and-down moving distance of the bristle extension device to adjust the extension length of the bristles to a target extension length, and adjusting the up-and-down moving distance of the bristle lifting device to adjust the pressure of the bristles on the ground to a target pressure, so that the cleaning robot controls the bristles to clean the area to be cleaned based on the target extension length and target pressure of the bristles, may include steps 2321-2325:

[0121] Step 2321, obtain the total length of the bristles.

[0122] Step 2322: Calculate the third target pressure of the first cavity based on the total length and the target extension length.

[0123] Step 2323: sum the third target pressure, the target pressure and the atmospheric pressure to obtain a fourth target pressure of the second cavity.

[0124] Step 2324, control the first power device to adjust the pressure of the first cavity to the third target pressure, so that the bristle head movable part moves up and down to the position corresponding to the third target pressure so that the extension length of the bristles reaches the target extension length.

[0125] Step 2325, control the first power device to adjust the pressure of the second cavity to a fourth target pressure, so that the bristle lifting device moves up and down to a position corresponding to the fourth target pressure, so that the pressure of the bristles on the ground reaches the target pressure.

[0126] Thus, by obtaining the cleanliness of the area to be cleaned; based on the mapping relationship between the cleanliness and the extension length of the bristles and / or the pressure of the bristles on the ground, the target extension length of the bristles of the cleaning robot and / or the target pressure of the bristles on the ground and / or the target rotation speed of the bristles corresponding to the cleanliness of the area to be cleaned is determined; the up and down moving distance of the bristle retracting device is adjusted to adjust the extension length of the bristles to the target extension length, and / or, the up and down moving distance of the bristle lifting device is adjusted to adjust the pressure of the bristles on the ground to the target pressure, and / or, the rotation speed of the bristle lifting device or the bristle retracting device is adjusted to adjust the rotation speed of the bristles to the target rotation speed, so that the cleaning robot controls the bristles to clean the area to be cleaned based on the target extension length of the bristles and / or the target pressure and / or the target rotation speed of the bristles, the bristles on the cleaning robot can be moved up and down, and the extension length of the bristles and / or the pressure of the bristles on the area to be cleaned and / or the rotation speed of the bristles are adjusted according to the cleanliness of the area to be cleaned, thereby improving the cleaning ability of the bristles and improving the cleaning efficiency and cleaning effect of the cleaning robot.

[0127] In some embodiments of the present disclosure, Figure 2 Based on the cleaning robot provided, in response to the cleaning robot returning to the workstation, the cleaning robot can adjust the up and down movement distance of the bristle extension device to adjust the extension length of the bristles to 0. In this way, the hair and other debris entangled on the bristles can be separated from the bristles, and the hair and other debris entangled on the bristles can be automatically cleaned.

[0128] Among them, the workstation can be understood as the home of the cleaning robot. After the cleaning robot finishes its work, it will automatically return to the corresponding workstation. The workstation can charge the cleaning robot, recycle the garbage collected by the cleaning robot, clean the cleaning robot, etc.

[0129] For example, Figure 3a 310 is a schematic diagram of a cleaning robot provided by the present disclosure before self-cleaning, wherein 310 is hair entangled on the bristles, Figure 3b This is a schematic diagram of a cleaning robot provided by the present invention after self-cleaning. At this time, the extended length of the bristles is 0, and the hair entangled on the bristles has been separated from the bristles.

[0130] In some embodiments, the up and down movement distance of the bristle extension device is adjusted to adjust the extended length of the bristles to 0, and the preset pressure of the first cavity corresponding to the extended length of the bristles is 0 can be obtained; the first power device is controlled to adjust the pressure of the first cavity to the preset pressure, so that the bristle extension device moves up and down to the position corresponding to the preset pressure, so as to adjust the extended length of the bristles to 0. The preset pressure is the pressure of the first cavity corresponding to the extended length of the bristles is 0, which can be set in advance.

[0131] In other embodiments, the up and down movement distance of the bristle retractable device is adjusted to adjust the extended length of the bristles to 0, and the preset pressure of the first cavity corresponding to the extended length of the bristles is 0 can be obtained; the first power device is controlled to adjust the pressure of the first cavity to a preset pressure at a preset adjustment speed, so that the bristle retractable device moves up and down at a preset adjustment speed to a position corresponding to the preset pressure, so as to adjust the extended length of the bristles to 0.

[0132] Figure 4 Schematic diagram of the structure of a bristle adjustment device of a cleaning robot provided by an embodiment of the present disclosure, which can be understood as the above-mentioned cleaning robot or a part of the functional modules in the above-mentioned cleaning robot. Figure 4 As shown, the bristle adjustment device 400 of the cleaning robot includes:

[0133] An acquisition module 410 is used to acquire the cleanliness of the area to be cleaned;

[0134] A determination module 420 is used to determine a target extension length of the bristles of the cleaning robot and / or a target pressure of the bristles on the ground and / or a target rotation speed of the bristles corresponding to the cleanliness of the area to be cleaned based on a mapping relationship between the cleanliness and the extension length of the bristles and / or the pressure of the bristles on the ground;

[0135] The first adjustment module 430 is used to adjust the up and down moving distance of the bristle retracting device to adjust the extension length of the bristles to the target extension length, and / or adjust the up and down moving distance of the bristle lifting device to adjust the pressure of the bristles on the ground to the target pressure, and / or adjust the rotation speed of the bristle lifting device or the bristle retracting device to adjust the rotation speed of the bristles to the target rotation speed, so that the cleaning robot controls the bristles to clean the area to be cleaned based on the target extension length of the bristles and / or the target pressure and / or the target rotation speed.

[0136] Optionally, the acquisition module 410 includes:

[0137] A first acquisition submodule is used to acquire an image of the area to be cleaned;

[0138] An identification submodule, used to identify the cleanliness of the image and obtain the cleanliness of the area to be cleaned;

[0139] Or a second acquisition submodule is used to acquire the cleanliness of the area to be cleaned in response to the cleanliness of the area to be cleaned input by the user.

[0140] Optionally, the first adjustment module 430 includes:

[0141] A third acquisition submodule is used to acquire the total length of the bristles and the atmospheric pressure;

[0142] A first calculation submodule, used for calculating the ratio of the total length to the target extension length to obtain a first ratio;

[0143] a second calculation submodule, configured to multiply the first ratio by the atmospheric pressure to obtain a first target pressure of the first cavity;

[0144] The first control submodule is used to control the power device to adjust the pressure of the first cavity to the first target pressure, so that the bristle head movable part moves up and down to the position corresponding to the first target pressure so that the extension length of the bristles reaches the target extension length.

[0145] Optionally, the first adjustment module 430 includes:

[0146] A fourth acquisition submodule, used to acquire the current pressure and atmospheric pressure of the first cavity;

[0147] a summing submodule, configured to sum the target pressure, the current pressure and the atmospheric pressure to obtain a second target pressure of the second cavity;

[0148] The second control submodule is used to control the power device to adjust the pressure of the second cavity to the second target pressure, so that the bristle lifting device moves up and down to the position corresponding to the second target pressure, so that the pressure of the bristles on the ground reaches the target pressure.

[0149] Optionally, the bristle adjustment device 400 of the cleaning robot includes:

[0150] The second adjustment module is used to adjust the up and down movement distance of the bristle extension device in response to the cleaning robot returning to the workstation, so as to adjust the extension length of the bristles to 0.

[0151] Optionally, the second adjustment module includes:

[0152] A fifth acquisition submodule, used for acquiring a preset pressure of the first cavity corresponding to when the extension length of the bristles is 0;

[0153] The third control submodule is used to control the power device to adjust the pressure of the first cavity to a preset pressure, so that the bristle extension device moves up and down to a position corresponding to the preset pressure, so as to adjust the extension length of the bristles to 0.

[0154] The bristle adjustment device of the cleaning robot provided in the embodiments of the present disclosure can implement the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0155] The embodiments of the present disclosure also provide a cleaning robot, which includes a processor and a memory, wherein a computer program is stored in the memory. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0156] An embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0157] The above-mentioned computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0158] The computer program may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer device, partially on the user's device, as a separate software package, partially on the user's computer device and partially on a remote computer device, or entirely on a remote computer device or server.

[0159] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0160] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0161] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning robot with adjustable bristles, characterized in that: The cleaning robot comprises a main body, a bristle lifting device and a bristle retracting device; The bristle lifting device moves up and down relative to the body; The bristle retractable device is arranged inside the bristle lifting device, and the bristle lifting device drives the bristle retractable device to move up and down, and the bristle retractable device moves up and down relative to the bristle lifting device; The bottom of the bristle lifting device is provided with a bristle hole, and the bristle telescopic device is provided with bristles. The bristle hole is used for the bristles on the bristle telescopic device to pass through the bristle hole and move up and down.

2. The cleaning robot according to claim 1, characterized in that: The cleaning robot also includes a power device; The power device is used to provide variable pressure to the bristle retracting device to control the bristle retracting device to move up and down relative to the bristle lifting device to adjust the extension length of the bristles; and / or, used to provide variable pressure to the bristle lifting device to control the bristle lifting device to move up and down relative to the body to adjust the pressure of the bristles on the ground; And / or, used to control the rotation speed of the bristle retracting device or the bristle lifting device.

3. The cleaning robot according to claim 1, characterized in that: The bristle retractable device comprises a bristle head movable part, bristles, and a bristle guide tube; One end of the bristle is fixed to the bottom of the bristle head movable part; One end of the bristle guide tube is fixed to the bristle head movable part, and the other end of the bristle guide tube is fixed to the bottom of the bristle lifting device relative to the bristle hole, or one end of the bristle guide tube is fixed to the bottom of the bristle lifting device relative to the bristle hole, and the other end of the bristle guide tube passes through the bristle head movable part and moves up and down; At least one bristle passes through each of the bristle guide tubes, and the bristle guide tubes are used to provide guidance and support for the bristles.

4. The cleaning robot according to claim 3, characterized in that: The bristle lifting device is arranged inside the body, the outer top surface of the bristle head movable part is opposite to the inner top surface of the bristle lifting device, and the outer top surface of the bristle head movable part and the inner top surface of the bristle lifting device form a first cavity; The outer top surface of the bristle lifting device is opposite to the inner top surface of the body, and the outer top surface of the bristle lifting device and the inner top surface of the body form a second cavity; The cleaning robot also includes a power device; The power device is used to provide variable pressure inside the first cavity, so that the bristle head movable part moves up and down inside the bristle lifting device; The power device is used to provide variable pressure to the inside of the second cavity so that the bristle lifting device moves up and down inside the body.

5. A method for adjusting bristles of a cleaning robot, characterized in that: The cleaning robot comprises a body, a bristle lifting device and a bristle retracting device, wherein the bristle lifting device moves up and down relative to the body; the bristle retracting device is arranged inside the bristle lifting device, the bristle lifting device drives the bristle retracting device to move up and down, and the bristle retracting device moves up and down relative to the bristle lifting device; a bristle hole is arranged at the bottom of the bristle lifting device, bristles are arranged on the bristle retracting device, and the bristle hole is used for the bristles on the bristle retracting device to pass through the bristle hole and move up and down, and the method comprises: Get the cleanliness of the area to be cleaned; Based on the mapping relationship between the cleanliness level and the extension length of the bristles and / or the pressure of the bristles on the ground, determine the target extension length of the bristles of the cleaning robot and / or the target pressure of the bristles on the ground and / or the target rotation speed of the bristles corresponding to the cleanliness level of the area to be cleaned; Adjust the up and down moving distance of the bristle retracting device to adjust the extension length of the bristles to the target extension length, and / or adjust the up and down moving distance of the bristle lifting device to adjust the pressure of the bristles on the ground to the target pressure, and / or adjust the rotation speed of the bristle lifting device or the bristle retracting device to adjust the rotation speed of the bristles to the target rotation speed, so that the cleaning robot controls the bristles to clean the area to be cleaned based on the target extension length of the bristles and / or the target pressure and / or the target rotation speed.

6. The method according to claim 5, characterized in that The obtaining of the cleanliness of the area to be cleaned includes: Acquire an image of the area to be cleaned; Identifying the cleanliness of the image to obtain the cleanliness of the area to be cleaned; Or, in response to the cleanliness level of the area to be cleaned input by the user, the cleanliness level of the area to be cleaned is obtained.

7. The method according to claim 5, characterized in that The cleaning robot further comprises a power device, the bristle lifting device is arranged inside the body, the bristle retracting device comprises a bristle head movable part, and the outer top surface of the bristle head movable part and the inner top surface of the bristle lifting device are arranged opposite to each other to form a first cavity; The adjusting the up and down movement distance of the bristle extension device to adjust the extension length of the bristles to a target extension length includes: Obtaining the total length of the bristles and the atmospheric pressure; Calculating a ratio of the total length to the target extension length to obtain a first ratio; multiplying the first ratio by the atmospheric pressure to obtain a first target pressure of the first cavity; The power device is controlled to adjust the pressure of the first cavity to the first target pressure, so that the movable part of the bristle head moves up and down to the position corresponding to the first target pressure so that the extension length of the bristles reaches the target extension length.

8. The method according to claim 5, characterized in that The cleaning robot further comprises a power device, the bristle lifting device is arranged inside the body, the bristle retracting device comprises a bristle head movable part, the outer top surface of the bristle head movable part is arranged opposite to the inner top surface of the bristle lifting device to form a first cavity, and the outer top surface of the bristle lifting device is arranged opposite to the inner top surface of the body to form a second cavity; The adjusting the up and down movement distance of the bristle lifting device to adjust the pressure of the bristles on the ground to a target pressure includes: Obtaining the current pressure of the first cavity and the atmospheric pressure; The target pressure, the current pressure and the atmospheric pressure are summed to obtain a second target pressure of the second cavity; The power device is controlled to adjust the pressure of the second cavity to the second target pressure, so that the bristle lifting device moves up and down to the position corresponding to the second target pressure, so that the pressure of the bristles on the ground reaches the target pressure.

9. The method according to claim 5, characterized in that The method further comprises: In response to the cleaning robot returning to the workstation, the up and down movement distance of the bristle retracting device is adjusted to adjust the extended length of the bristles to 0.

10. The method according to claim 9, characterized in that The step of adjusting the extension length of the bristles to 0 according to a preset speed includes: Obtaining a preset pressure of the first cavity corresponding to when the extension length of the bristles is 0; The power device is controlled to adjust the pressure of the first cavity to a preset pressure, so that the bristle extension device moves up and down to a position corresponding to the preset pressure, so as to adjust the extension length of the bristles to 0.

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